o © 
[2] Elassal, A.A., Brewer, R.K., Gracie, G., Crombie, M.A, : "MUSAT IV", Vol. I, ETL- 
CR-70-6, U.S. Army Engineer Topographic Laboratories, Fort Belvoir, Virginia, 
November, 1970. 
[3] Davenport, P.B. : "A Vector Approach to the Algebra of Rotations with Applications", NASA 
TN D-4696 Goddard Space Flight Center, Greenbelt, Maryland, August, 1968. 
[4] A.J. Pope : "An Advantageous, Alternative Parameterization of Rotations for Analytical 
Photogrammetry', Paper presented to the 1970 Symposium on Computational Photogram- 
metry, Alexandria, Virginia, January, 1970. 
Point Pair Linear Displacement Line Pair Angular Displacement 
  
  
  
  
  
Constraint Constraint 
1 -| Analysis of Observation P P & D 
/ 
Vector Transforms = x > =. u— e = 
2 = 
and Their Differentials FAR EQP 49, Fp AF. Qe AM, Die AD 
  
  
Matrices and Constants = => 7 
RE for S RU IE n [0] iuc À 4 [v] : La] e © 
Condition Equation : : 
4 - Assembly Equation 3 Equation 5 
  
  
  
  
  
  
  
  
Figure 2 - Assembly of Auxiliary Constraints 
o 9 
P "N 
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